Real-time 3D walking pattern generation for a biped robot with telescopic legs

Kajita, Shin; Matsumoto, Osamu; Saigo, Muneharu

doi:10.1109/robot.2001.932965

Cited by 192 publications

(118 citation statements)

References 10 publications

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“…It is worth noting that the motion does not depend on the mass of the robot, but only on the height of the CoM. The same model is used to derive a so-called Orbital Energy [8]. It expresses the kinetic and potential energy of the unit mass inverted pendulum.…”

Section: Semi-dynamically Consistent Step Planningmentioning

confidence: 99%

Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots

Kryczka

Shiguematsu

Kormushev

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating semi-dynamically consistent step position and step time information, while the second stage incorporated with multi-body dynamics system is responsible for generation of gait pattern that is feasible and stable on the full-scale multi-degree-of-freedom humanoid robot. The approach allows for very rapid gait pattern regeneration during the swing phase of motion and includes information about present dynamic state when regenerating the new pattern. The paper contains description of a developed method, as well as experimental results proving its effectiveness.

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Section: Semi-dynamically Consistent Step Planningmentioning

confidence: 99%

Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots

Kryczka

Shiguematsu

Kormushev

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…The first set comprises equations describing position and velocity of the CoM in the support foot coordinate frame derived by integrating (1), as shown in [14].…”

Section: Fundamental Equationsmentioning

confidence: 99%

“…The second set comprises one equation that is the socalled Orbital Energy [14]. It expresses the kinetic energy of the unit mass inverted pendulum.…”

Section: Fundamental Equationsmentioning

confidence: 99%

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Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration

Kryczka

Kormushev

Hashimoto

et al. 2013

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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-We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating the preliminary motion reference, such as step position, timing and trajectory of Center of Mass (CoM), while the second stage serves as dynamics filter and modifies the initial references to make the pattern stable on the full-scale multi-degree-of-freedom humanoid robot. The approach allows employment of easy to use models for motion generation, yet the use of the dynamics filtering ensures that the pattern is safe to execute on the real-world humanoid robot. The paper contains description of two approaches used in the first and second stage, as well as experimental results proving the effectiveness of the method. The fast calculation time and the use of the system's dynamic state as initial conditions for pattern generation makes it a good candidate for the real-time gait pattern generator.

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“…Several researchers have proposed feed-forward algorithms for humanoid walking based on ZMP criteria [6], [3], [1], [5], [2], [9], [11]. The trajectories generated by these methods are model-based and result in dynamically stable motions provided that the trajectory of the Zero Moment Point lies inside the convex hull of the area of support.…”

Section: Introductionmentioning

confidence: 99%

A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

Komura

Leung

Kudoh

et al.

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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Abstract-In this paper, we propose a new method for biped humanoids to compensate for large amounts of angular momentum induced by strong external perturbations applied to the body during gait motion. Such angular momentum can easily cause the humanoid to fall down onto the ground. We use an Angular Momentum inducing inverted Pendulum Model (AMPM), which is an enhanced version of the 3D linear inverted pendulum model to model the robot dynamics. Because the AMPM allows us to explicitly calculate the angular momentum generated by the ground reaction force, it is possible to calculate a counteracting motion that compensates for the angular momentum generated by external perturbations in realtime.

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Real-time 3D walking pattern generation for a biped robot with telescopic legs

Cited by 192 publications

References 10 publications

Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots

Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots

Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration

A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

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